Switching the global planner to a Voronoi diagram and applying shortcut-based path refinement cuts the first two stages of a warm-started ASV trajectory planner from 5.6 to 0.8 seconds on a single example scenario.
A Voronoi-diagram-based dynamic path- planning system for underactuated marine vessels
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Improvements to Warm-Started Optimized Trajectory Planning for ASVs
Switching the global planner to a Voronoi diagram and applying shortcut-based path refinement cuts the first two stages of a warm-started ASV trajectory planner from 5.6 to 0.8 seconds on a single example scenario.